| 单自由度磁悬浮微动机器人的模糊控制系统研究 |
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| 引用本文： | 雷敏华,张铁. 单自由度磁悬浮微动机器人的模糊控制系统研究[J]. 机电产品开发与创新, 2006, 19(1): 1-3 |
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| 作者姓名： | 雷敏华 张铁 |
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| 作者单位： | 华南理工大学,机械工程学院,广东,广州,510640;华南理工大学,机械工程学院,广东,广州,510640 |
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| 基金项目： | 中国科学院资助项目;广东省博士启动基金 |
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| 摘 要： | 提出利用电磁铁的磁力作为机器人的运动驱动,利用这种电磁力的磁悬浮微动机器人不需要任何关节,结构紧凑,运动精度高。文中介绍了一种基于DSP的单自由度磁悬浮微动机器人的结构和工作原理,研究了磁悬浮机器人的运动控制系统,包括DSP系统、控制算法、软件结构,实验证明该系统能够较好地控制机器人的运动。
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| 关 键 词： | 微动机器人 DSP控制 模糊控制 |
| 文章编号： | 1002-6673（2006）01-001-03 |
| 收稿时间： | 2005-10-27 |
| 修稿时间： | 2005-10-27 |
Research on Fuzzy Control System of Single Freedom Magnetic Levitation Micro-manipulator |
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| LEI Min-Hua,ZHANG Tie. Research on Fuzzy Control System of Single Freedom Magnetic Levitation Micro-manipulator[J]. Development & Innovation of Machinery & Electrical Products, 2006, 19(1): 1-3 |
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| Authors: | LEI Min-Hua ZHANG Tie |
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| Affiliation: | College of Mech, Engineering, South China Univ. of Tech., Guangzhou Guangdong 510640, China |
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| Abstract: | It is put forward that magnetic force of electromagnetic used as movement driving for micro-manipulator robot. And this kind of micro-manipulator robot need not any joint, the construct is tighten, and movement precision is very high. The structure and the principle of single freedom magnetic levitation micro-manipulator which is based on DSP is introduced in this paper. Its motion control system of the micro-manipulator is studied, includes DSP, control arithmetic , structure of software. The experiment results prove that the system can control the manipulator movement. |
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| Keywords: | Micro-manipulator DSP control fuzzy control |
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